########################################################################### # # Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved. # # THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN # WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. # # @file concentrate_pumps.py # # @author (last) Zoltan Miskolci # @date (last) 04-May-2026 # @author (original) Micahel Garthwaite # @date (original) 29-Oct-2020 # ############################################################################ # Module imports from logging import Logger # Project imports from leahi_dialin.common.constants import NO_RESET from leahi_dialin.common import dd_enum_repository from leahi_dialin.common.generic_defs import DataTypes from leahi_dialin.common.msg_defs import MsgIds from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override from leahi_dialin.protocols.CAN import DenaliCanMessenger, DenaliChannels from leahi_dialin.utils.abstract_classes import AbstractSubSystem from leahi_dialin.utils.base import publish from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray class DDConcentratePumps(AbstractSubSystem): """ Dialin API sub-class for concentrate pumps related commands. """ def __init__(self, can_interface: DenaliCanMessenger, logger: Logger): """ @param can_interface: Denali Can Messenger object """ super().__init__() self.can_interface = can_interface self.logger = logger if self.can_interface is not None: self.can_interface.register_receiving_publication_function(channel_id = DenaliChannels.dd_sync_broadcast_ch_id, message_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_DATA.value, function = self._handler_concentrate_pumps_sync) self.dd_concentrate_pump_timestamp = 0.0 #: The timestamp of the last message #: The Concentrate Pumps data in dictionary format self.dd_concentrate_pumps = { dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB.name: { dd_enum_repository.DDConcentratePumpAttributes.CURRENT_STATE.name: 0, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_SET_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.TARGET_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.PULSE_US.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.TARGET_REV_COUNT.name: 0, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_REV_COUNT.name: 0, dd_enum_repository.DDConcentratePumpAttributes.PARKED.name: False, dd_enum_repository.DDConcentratePumpAttributes.PARK_FAULT.name: False }, dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID.name: { dd_enum_repository.DDConcentratePumpAttributes.CURRENT_STATE.name: 0, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_SET_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.TARGET_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.PULSE_US.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.TARGET_REV_COUNT.name: 0, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_REV_COUNT.name: 0, dd_enum_repository.DDConcentratePumpAttributes.PARKED.name: False, dd_enum_repository.DDConcentratePumpAttributes.PARK_FAULT.name: False }, dd_enum_repository.DDConcentratePumpNames.D76_UF.name: { dd_enum_repository.DDConcentratePumpAttributes.CURRENT_STATE.name: 0, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_SET_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.TARGET_SPEED.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.PULSE_US.name: 0.0, dd_enum_repository.DDConcentratePumpAttributes.TARGET_REV_COUNT.name: 0, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_REV_COUNT.name: 0, dd_enum_repository.DDConcentratePumpAttributes.PARKED.name: None, # D76 doesn't utilize this attribute dd_enum_repository.DDConcentratePumpAttributes.PARK_FAULT.name: None # D76 doesn't utilize this attribute } } @publish(["msg_id_dd_conc_pump_data", "dd_concentrate_pumps", "dd_concentrate_pump_timestamp"]) def _handler_concentrate_pumps_sync(self, message, timestamp=0.0): """ Handles published concentrate pumps' data messages. Concentrate pumps' speed data are captured for reference. @param message: published concentrate pumps' data message @return: None """ sensor_list =[] sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_SET_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_SET_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.TARGET_REV_COUNT, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_REV_COUNT, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.TARGET_REV_COUNT, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_REV_COUNT, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_STATE, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_STATE, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.PULSE_US, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.PULSE_US, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.TARGET_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.TARGET_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.PARKED, DataTypes.BOOL)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.PARKED, DataTypes.BOOL)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D11_CP1_ACID, dd_enum_repository.DDConcentratePumpAttributes.PARK_FAULT, DataTypes.BOOL)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D10_CP2_BICARB, dd_enum_repository.DDConcentratePumpAttributes.PARK_FAULT, DataTypes.BOOL)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.TARGET_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_SET_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_SPEED, DataTypes.F32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.TARGET_REV_COUNT, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.MEASURED_REV_COUNT, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.CURRENT_STATE, DataTypes.U32)) sensor_list.append((dd_enum_repository.DDConcentratePumpNames.D76_UF, dd_enum_repository.DDConcentratePumpAttributes.PULSE_US, DataTypes.F32)) self.process_into_dict(dict_to_update = self.dd_concentrate_pumps, msg_list = sensor_list, message = message) self.dd_concentrate_pump_timestamp = timestamp def cmd_concentrate_pump_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int: """ Constructs and sends the concentrate pump data broadcast interval override command Constraints: Must be logged into DD. Given interval must be non-zero and a multiple of the DD general task interval (50 ms). @param ms: integer - interval (in ms) to override with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ return cmd_generic_broadcast_interval_override( ms = ms, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_PUBLISH_INTERVAL_OVERRIDE_REQUEST, module_name = 'DD Concentrate Pump', logger = self.logger, can_interface = self.can_interface) def cmd_concentrate_pump_target_speed_override(self, pump_id: int, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the concentrate pump target speed override command @param pump_id: unsigned int - concentrate pump ID @param speed: float - target speed value to override concentrate pump with @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) speed_byte_array = float_to_bytearray(speed) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + speed_byte_array + pump_id_byte_array return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_TARGET_SPEED_OVERRIDE_REQUEST, entity_name = f'DD {dd_enum_repository.DDConcentratePumpNames(pump_id).name} Concentrate Pump target speed', override_text = str(speed), logger = self.logger, can_interface = self.can_interface) def cmd_concentrate_pump_measured_speed_override(self, pump_id: int, speed: float, reset: int = NO_RESET) -> int: """ Constructs and sends the concentrate pump measured speed override command @param pump_id: unsigned int - concentrate pump ID @param speed: float - measured speed value to override concentrate pump with @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) speed_byte_array = float_to_bytearray(speed) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + speed_byte_array + pump_id_byte_array return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_MEASURED_SPEED_OVERRIDE_REQUEST, entity_name = f'DD {dd_enum_repository.DDConcentratePumpNames(pump_id).name} Concentrate Pump measured speed', override_text = str(speed), logger = self.logger, can_interface = self.can_interface) def cmd_concentrate_pump_parked_status_override(self, pump_id: int, status: int, reset: int = NO_RESET) -> int: """ Constructs and sends the concentrate pump parked state override command @param pump_id: unsigned int - concentrate pump ID @param status: unsigned int - 1 = parked, 0 = not parked @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) status_byte_array = integer_to_bytearray(status) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + status_byte_array + pump_id_byte_array return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_PARKED_OVERRIDE_REQUEST, entity_name = f'DD {dd_enum_repository.DDConcentratePumpNames(pump_id).name} Concentrate Pump parked status', override_text = str(status), logger = self.logger, can_interface = self.can_interface) def cmd_concentrate_pump_park_fault_state_override(self, pump_id: int, status: int, reset: int = NO_RESET) -> int: """ Constructs and sends the concentrate pump park fault state override command @param pump_id: unsigned int - concentrate pump ID @param status: unsigned int - 1 = fault, 0 = no fault @param reset: integer - 1 to reset a previous override, 0 to override @return: 1 if successful, zero otherwise """ reset_byte_array = integer_to_bytearray(reset) status_byte_array = integer_to_bytearray(status) pump_id_byte_array = integer_to_bytearray(pump_id) payload = reset_byte_array + status_byte_array + pump_id_byte_array return cmd_generic_override( payload = payload, reset = reset, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_PARK_FAULT_OVERRIDE_REQUEST, entity_name = f'DD {dd_enum_repository.DDConcentratePumpNames(pump_id).name} Concentrate Pump parked fault state', override_text = str(status), logger = self.logger, can_interface = self.can_interface) def cmd_concentrate_pump_park_command(self, pump_id: int) -> int: """ Constructs and sends the concentrate pump park command @param pump_id: unsigned int - concentrate pump ID @return: 1 if successful, zero otherwise """ payload = integer_to_bytearray(pump_id) return cmd_generic_override( payload = payload, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMP_PARK_REQUEST_OVERRIDE_REQUEST, entity_name = f'DD {dd_enum_repository.DDConcentratePumpNames(pump_id).name} Concentrate Pump to zeroing', override_text = 'Active', logger = self.logger, can_interface = self.can_interface) def cmd_concentrate_set_start_stop(self, pump_id: int, command: int, speed: float, volume: float ) -> int: """ Constructs and sends the concentrate pump start stop command @param pump_id: unsigned int - concentrate pump ID @param command: int - value to command the concentrate pump @param speed: float - ml/min to set the speed to @param volume: float - the volume to set to @return: 1 if successful, zero otherwise """ pmp = integer_to_bytearray(pump_id) cmd = integer_to_bytearray(command) spd = float_to_bytearray(speed) vlm = float_to_bytearray(volume) payload = pmp + cmd + spd + vlm return cmd_generic_override( payload = payload, reset = NO_RESET, channel_id = DenaliChannels.dialin_to_dd_ch_id, msg_id = MsgIds.MSG_ID_DD_CONCENTRATE_PUMPS_START_STOP_OVERRIDE_REQUEST, entity_name = f'DD {dd_enum_repository.DDConcentratePumpNames(pump_id).name} Concentrate Pump speed', override_text = str(spd), logger = self.logger, can_interface = self.can_interface)